#ifndef DISKLOADER_H
#define DISKLOADER_H

#include "WPILib.h"

//------------------------------------------------------------------------------
// DEFINE DiskLoader CLASS
//------------------------------------------------------------------------------
//
//------------------------------------------------------------------------------
class DiskLoader
{
	public:
	enum position {PickUpDisk, FeedDisk, StowLoader};
		static const UINT32 CLAMP_SOL_CHA      =  3;
		static const UINT32 CLAMP_SOL_CHB      =  4;
		static const UINT32 DISK_RAISE_CH      =  7;
		static const UINT32 LOADER_ENCODER_CHA = 13;
		static const UINT32 LOADER_ENCODER_CHB = 14;

		DiskLoader();
		~DiskLoader();
		void ClampDisk();
		void UnClampDisk();
		void MoveLoader(int position);
		void SetLoaderTargets(int targetPickUp, int targetLoad, int targetStow);
		void ResetEncoder();
	private:
		int target1;
		int target2;
		int target3;

		static const float FORWARD_SPEED =  .2;
		static const float REVERSE_SPEED = -.2;
		static const float STOP_MOTOR 	 = 0.0;

		DoubleSolenoid		*pClampSol;
		Victor				*pRaiseMotor;
		Encoder				*pLoaderEncoder;

		float	encoderValue;

};
#endif
